CN102431029A - Spatial seven-mobility robot mechanism - Google Patents

Abstract

A robot mechanism with seven activities in space includes a two-dimensional rotating arm mechanism, a three-dimensional rotating small arm mechanism and a two-dimensional rotating end execution platform mechanism. The two-dimensional rotating arm mechanism includes a two-dimensional rotating arm, a first linear driver, and a second linear driver, and the three-dimensional rotating arm mechanism includes a three-dimensional rotating arm, a third linear driver, a fourth linear driver and a second linear driver. Five linear drivers, the two-dimensional rotary end-effector platform mechanism includes a two-dimensional rotary end-effector platform, a sixth linear driver, and a seventh linear driver. The above three parts are connected in series, which can realize a large working space of the mechanism and flexible track output, and the overall structure is simple and compact, and the error compensation is good. The present invention installs various end effectors for different purposes on the flange plate of the two-dimensional rotating end execution platform, and can be applied to industrial production such as handling, palletizing, assembling, cutting, etc., and has strong practicability.

Description

A robotic mechanism with seven degrees of activity in space

technical field

The invention relates to the field of industrial robots, in particular to a robot mechanism with seven degrees of activity. the

Background technique

Robots are widely used in welding, handling, palletizing, assembly, cutting and other operations in industrial production. Among them, the robots that have been better applied are basically articulated robots, mostly with 6 axes, and the end tools are sent to different spatial positions through joint actions of 1, 2, and 3 axes, supplemented by 4, 5, and 6 axes. The linkage to meet the different requirements of the tool attitude. The mechanical structure of the robot body mainly has two forms: a parallelogram structure and a side-mounted structure, and it has been widely used because of its large working space and relatively flexible movements. However, due to the limitations of its own structure, this kind of traditional open-chain series robot mechanism requires the drive motor to be installed at the joint, which leads to problems such as bulky mechanism, poor rigidity, large inertia, and accumulation of joint errors. The dynamic performance is poor, and it is difficult to Meet the increasingly stringent requirements for high-speed and high-precision operations. The parallel robot mechanism is a closed-loop mechanism with a moving platform and a fixed platform connected by at least two independent kinematic chains. The mechanism has two or more degrees of freedom and is driven in parallel. It has compact structure, small error accumulation, It has the advantages of high precision, high operating speed, and good dynamic response, but it also has disadvantages such as small working space and inflexible movements. the

Contents of the invention

The object of the present invention is to provide a robot mechanism with seven degrees of activity, which can effectively solve the problems of traditional open-chain series robot mechanism, such as heavy weight, poor rigidity, large inertia, joint error accumulation, small working space and inflexible movement of parallel robot mechanism and so on for their respective issues. the

The present invention achieves the above object through the following technical solutions: a robot mechanism with seven degrees of activity in space, including a two-dimensional rotating arm mechanism, a three-dimensional rotating small arm mechanism and a two-dimensional rotating end actuator platform mechanism. the

The two-dimensional rotating boom mechanism is composed of a two-dimensional rotating boom, a first linear driver, and a second linear driver. The two-dimensional rotating boom is connected to the frame through the first Hooke hinge, and one end of the first linear driver Connected to the frame through the first spherical pair, the other end of the first linear drive is connected to the two-dimensional rotating boom through the second spherical pair, one end of the second linear drive is connected to the frame through the third spherical pair, the second The other end of the linear drive is connected to the two-dimensional rotating arm through the fourth spherical pair. The first linear driver and the second linear driver, as active parts, can individually drive the two-dimensional rotating arm to move, or can jointly drive the two-dimensional rotating arm in combination to realize the two-dimensional rotating of the two-dimensional rotating arm. the

The three-dimensional rotating arm mechanism is composed of a three-dimensional rotating arm, a third linear driver, a fourth linear driver and a fifth linear driver, the three-dimensional rotating arm is connected to the two-dimensional rotating arm through the fifth spherical pair, and the third linear One end of the driver is connected to the two-dimensional rotating arm through the sixth spherical pair, the other end of the third linear driver is connected to the three-dimensional rotating arm through the seventh spherical pair, and one end of the fourth linear driver is connected to the two-dimensional rotating arm through the eighth spherical pair. On the rotating arm, the other end of the fourth linear driver is connected to the three-dimensional rotating arm through the ninth spherical pair, one end of the fifth linear driver is connected to the two-dimensional rotating arm through the tenth spherical pair, and the other end of the fifth linear driver is passed through The eleventh spherical pair is connected to the three-dimensional rotating arm. The third linear driver, the fourth linear driver and the fifth linear driver, as active parts, can individually drive the movement of the three-dimensional rotating arm, or can jointly drive the movement of the three-dimensional rotating arm in combination to realize the three-dimensional rotation of the three-dimensional rotating arm. the

The two-dimensional rotating end effector mechanism is composed of a two-dimensional rotating end effector, a sixth linear driver, and a seventh linear driver. The two-dimensional rotating end effector is connected to the three-dimensional rotating arm through a second Hooke hinge. One end of the linear actuator is connected to the three-dimensional rotary arm through the twelfth spherical pair, the other end of the sixth linear actuator is connected to the two-dimensional rotary end execution platform through the thirteenth spherical pair, and one end of the seventh linear actuator is connected to the two-dimensional rotating end execution platform through the fourteenth spherical pair It is connected to the three-dimensional rotary arm, and the other end of the seventh linear drive is connected to the two-dimensional rotary end-effector platform through the fifteenth spherical pair, and the two-dimensional rotary end-effector platform has a flange. The sixth linear driver and the seventh linear driver, as active parts, can drive the motion of the two-dimensional rotary end-effector platform alone, or jointly drive the motion of the two-dimensional rotary end-effector platform in combination to realize the two-dimensional rotation of the two-dimensional rotary end-effector platform. the

The outstanding advantages of the present invention are:

1. The two-dimensional rotating arm, the three-dimensional rotating arm, and the two-dimensional rotating end execution platform are connected in series, and the joints are each driven in parallel by a linear driver to achieve a large working space for the mechanism and flexible trajectory output. The overall structure is simple and compact, and error compensation good. the

2. The present invention can be applied to industrial production such as handling, palletizing, assembling, cutting, etc. by installing various end effectors for different purposes on the flange of the two-dimensional rotating end effector platform, and has strong practicability. the

Description of drawings

Fig. 1 is a structural schematic diagram of a space seven-degree-of-motion robot mechanism according to the present invention. the

Fig. 2 is a schematic diagram of a two-dimensional rotating arm mechanism of a robot mechanism with seven degrees of motion in space according to the present invention. the

Fig. 3 is a schematic diagram of a three-dimensional rotating arm mechanism of a robot mechanism with seven degrees of activity in space according to the present invention. the

Fig. 4 is a schematic diagram of a two-dimensional rotating end effector platform mechanism of a robot mechanism with seven degrees of activity in space according to the present invention. the

Fig. 5 is a schematic diagram of the first working state of a robot mechanism with seven degrees of activity in space according to the present invention. the

Fig. 6 is a schematic diagram of the second working state of a space seven-degree-of-motion robot mechanism according to the present invention. the

Fig. 7 is a schematic diagram of the third working state of a space seven-degree-of-motion robot mechanism according to the present invention. the

Fig. 8 is a schematic diagram of the fourth working state of a space seven-degree-of-motion robot mechanism according to the present invention. the

Detailed ways

The technical solutions of the present invention will be further described below in conjunction with the accompanying drawings and embodiments. the

Referring to Figures 1, 2, 3 and 4, the robot mechanism with seven degrees of movement in space is composed of a two-dimensional rotating arm mechanism, a three-dimensional rotating small arm mechanism and a two-dimensional rotating end-effector platform mechanism. the

1 and 2, the two-dimensional rotating boom mechanism is composed of a two-dimensional rotating boom 5, a first linear driver 3, and a second linear driver 26, and the two-dimensional rotating boom 5 is connected by a first Hooke hinge 28. On the frame 1, one end of the first linear driver 3 is connected to the frame 1 through the first spherical pair 2, and the other end of the first linear driver 3 is connected to the two-dimensional rotating boom 5 through the second spherical pair 4, One end of the second linear driver 26 is connected to the frame 1 through the third spherical pair 27 , and the other end of the second linear driver 26 is connected to the two-dimensional rotating arm 5 through the fourth spherical pair 25 . The first linear driver 3 and the second linear driver 26, as active parts, can drive the two-dimensional rotating arm 5 to move independently, or they can jointly drive the two-dimensional rotating arm 5 to move in combination, so as to realize the two-dimensional rotating arm 5. Dimensional rotation. the

1 and 3, the three-dimensional rotating arm mechanism is composed of the three-dimensional rotating arm 12, the third linear actuator 7, the fourth linear actuator 22 and the fifth linear actuator 21, and the three-dimensional rotating arm 12 passes through the fifth spherical pair 10 Connected to the two-dimensional rotating arm 5, one end of the third linear driver 7 is connected to the two-dimensional rotating arm 5 through the sixth spherical pair 6, and the other end of the third linear driver 7 is connected to the three-dimensional rotating arm through the seventh spherical pair 8. On the arm 12, one end of the fourth linear driver 22 is connected to the two-dimensional rotating arm 5 through the eighth spherical pair 23, and the other end of the fourth linear driver 22 is connected to the three-dimensional rotating arm 12 through the ninth spherical pair 9, and the fifth One end of the linear driver 21 is connected to the three-dimensional rotating arm 12 through the tenth spherical pair 24 , and the other end of the fifth linear driver 21 is connected to the two-dimensional rotating arm 12 through the eleventh spherical pair 11 . The third linear driver 7, the fourth linear driver 22 and the fifth linear driver 21, as the active parts, can drive the movement of the three-dimensional rotating arm 12 independently, or jointly drive the movement of the three-dimensional rotating arm 12 in combination to realize the three-dimensional rotating arm 12. three-dimensional rotation. the

1 and 4, the two-dimensional rotating end effector mechanism is composed of a two-dimensional rotating end effector 17, a sixth linear actuator 14, and a seventh linear actuator 15. The two-dimensional rotating end effector 17 passes through the second Hooke hinge 19 is connected to the three-dimensional rotating arm 12, one end of the sixth linear driver 14 is connected to the three-dimensional rotating arm 12 through the twelfth spherical pair 20, and the other end of the sixth linear driver 14 is connected to the two-dimensional rotating arm through the thirteenth spherical pair 16. On the rotary end effector platform 17, one end of the seventh linear driver 15 is connected to the three-dimensional rotary arm 12 through the fourteenth spherical pair 13, and the other end of the seventh linear driver 15 is connected to the two-dimensional rotary end effector through the fifteenth spherical pair 18. On the platform 17, there is a flange on the two-dimensional rotating end effector platform 17 . The sixth linear actuator 14 and the seventh linear actuator 15, as the active parts, can drive the movement of the two-dimensional rotary end-effector platform 17 independently, or they can jointly drive the movement of the two-dimensional rotary end-effector platform 17 in combination to realize the two-dimensional rotary end-effector platform 17 two-dimensional rotation. the

Referring to Figures 5, 6, 7, and 8, the seven-degree-of-motion robot mechanism is driven in parallel by seven linear actuators to realize various flexible position and attitude output at the end of the mechanism. the

Claims (1)

1. A robot mechanism with seven degrees of activity in space, including a two-dimensional rotating arm mechanism, a three-dimensional rotating small arm mechanism and a two-dimensional rotating end execution platform mechanism, its structure and connection method are: The two-dimensional rotating boom mechanism is composed of a two-dimensional rotating boom, a first linear driver, and a second linear driver. The two-dimensional rotating boom is connected to the frame through the first Hooke hinge, and one end of the first linear driver Connected to the frame through the first spherical pair, the other end of the first linear drive is connected to the two-dimensional rotating boom through the second spherical pair, one end of the second linear drive is connected to the frame through the third spherical pair, the second The other end of the linear drive is connected to the two-dimensional rotating arm through the fourth spherical pair, The three-dimensional rotating arm mechanism is composed of a three-dimensional rotating arm, a third linear driver, a fourth linear driver and a fifth linear driver, the three-dimensional rotating arm is connected to the two-dimensional rotating arm through the fifth spherical pair, and the third linear One end of the driver is connected to the two-dimensional rotating arm through the sixth spherical pair, the other end of the third linear driver is connected to the three-dimensional rotating arm through the seventh spherical pair, and one end of the fourth linear driver is connected to the two-dimensional rotating arm through the eighth spherical pair On the boom, the other end of the fourth linear driver is connected to the three-dimensional rotating arm through the ninth spherical pair, one end of the fifth linear driver is connected to the two-dimensional rotating arm through the tenth spherical pair, and the other end of the fifth linear driver is connected through the Eleven spherical pairs are connected to the three-dimensional rotating arm, The two-dimensional rotating end effector mechanism is composed of a two-dimensional rotating end effector, a sixth linear driver, and a seventh linear driver. The two-dimensional rotating end effector is connected to the three-dimensional rotating arm through a second Hooke hinge. One end of the linear actuator is connected to the three-dimensional rotary arm through the twelfth spherical pair, the other end of the sixth linear actuator is connected to the two-dimensional rotary end execution platform through the thirteenth spherical pair, and one end of the seventh linear actuator is connected to the two-dimensional rotating end execution platform through the fourteenth spherical pair It is connected to the three-dimensional rotary arm, and the other end of the seventh linear drive is connected to the two-dimensional rotary end-effector platform through the fifteenth spherical pair, and the two-dimensional rotary end-effector platform has a flange.

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